小型两栖仿龟机器人多模式运动研究

Translated title of the contribution: Research on Multi-mode Motion of the Miniature Amphibious Turtle-inspired Robot

Huiming Xing*, Chang Liu, Shuxiang Guo, Liwei Shi, Wenzhi Liu, Haibo Li, Yan Zhao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)

Abstract

A miniature amphibious turtle-inspired robot driven by a legged, multi-vectored water-jet composite driving system is proposed for scientific investigation and resource exploration in shallow shoal environment and underwater narrow space. The movement mechanism of the proposed driving system is studied, and bionic crawling and rotation gaits are designed. According to the variable structure characteristics of the proposed driving mechanism, "H", "I" and "X" mode motion are proposed. By modeling the underwater kinematics, a three-dimensional underwater autonomous motion control method is established based on real-time dynamic thrust vector allocation and optimization mechanism. Finally, movement experiments on various terrains prove that the robot prototype has strong adaptability in unstructured shoal environment. Underwater motion control experiments verify the flexibility and feasibility of multi-mode motion.

Translated title of the contributionResearch on Multi-mode Motion of the Miniature Amphibious Turtle-inspired Robot
Original languageChinese (Traditional)
Pages (from-to)212-223
Number of pages12
JournalJiqiren/Robot
Volume44
Issue number2
DOIs
Publication statusPublished - Mar 2022

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Xing, H., Liu, C., Guo, S., Shi, L., Liu, W., Li, H., & Zhao, Y. (2022). 小型两栖仿龟机器人多模式运动研究. Jiqiren/Robot, 44(2), 212-223. https://doi.org/10.13973/j.cnki.robot.210192